Poppies and forget-me-nots will be scattered today at sea in remembrance of more than 8,500 sailors who died in the First World War’s greatest naval clash.

The Prime Minister joined descendants of those who fought at the Battle of Jutland for a centenary service to remember the 36-hour engagement off the Danish coast.

He added: "It is very moving that we are joined today by the descendants of some of those who served at sea during the war.

The Princess Royal and Joachim Gack, the German President, attend the Battle of Jutland service on OrkneyCredit:
Danny Lawson/PA

"They have their own special reasons for wanting to be a part of today's commemorations."

Mr Cameron, who gave a reading, said in the order of service that the battle was a reminder the First World War was not only fought in battlefield trenches.

"We stand together with them to pay our profound respects to their ancestors and to ensure that the events of a hundred years ago will be remembered and understood in a hundred years' time."The service at St Magnus Cathedral in Kirkwall, on Orkney, was also be attended by the German President, Joachim Gauck, and the Princess Royal will represent the Royal Family.

The Duke of Edinburgh cancelled his attendance after doctor's advice. His son-in-law said the 94-year-old had a "minor ailment" and was "very frustrated" at not being able to attend.

Vice-Admiral Sir Tim Laurence, said: "He's very frustrated and disappointed that he can't be here and we're all very sad that he won't be with us."

St Magnus Cathedral Orkney in Scotland ahead of a commemoration of the Battle of JutlandCredit:
Danny Lawson/PA

"He's fine. He just has a minor ailment and I think at his age it would be unwise to go and stand in a windswept cemetery for a long period at that stage. "

The ceremony took place as the the First Sea Lord warned the battle should act as a reminder against cuts to the Royal Navy.

At the same time as the service, there will also be a remembrance ceremony at sea, where British and German naval representatives will scatter poppies and forget-me-nots - the German flower of remembrance - into the North Sea at Jutland Bank.

The confused clash as the German navy tried to break the Royal Navy’s blockade saw terrible British casualties when three battlecruisers exploded and sank. The Royal Navy lost 6,094 men and 14 ships, compared to the German loss of 2,551 sailors and 11 ships. Yet the German High Seas Fleet withdrew to port and the blockade held as the Royal Navy remained in control of the North Sea.

Thousands of ceramic poppies have been installed at St Magnus Catherdral in tribute to the war dead and a specially-commissioned piece of music by the late composer and Orkney resident Sir Peter Maxwell Davies will be performed.

Descendants of those who fought at Jutland have been invited to join the commemorations, which will continue with a service at Lyness Cemetery on the island of Hoy - the final resting place for more than 450 service personnel who died in the war, including sailors killed at Jutland.

The cemetery stands close to Scapa Flow, from where the British Grand Fleet set out for the Jutland Bank to repel German forces attempting to break a British blockade.

Both nations claimed victory - Germany because of the 6,094 British losses compared to the 2,551 men it sacrificed - but Britain had seriously weakened the enemy's naval capability.

The Government said the commemorations will remember all those who lost their lives while also paying tribute to the role of the Royal Navy and the Orkney Islands in the 1914-18 conflict.

Orkney Islands Council vice-convener Jim Foubister said: "We are proud to be hosting the UK's national commemoration of the Battle of Jutland.

"It is fitting that the Jutland commemorations will draw to a close among the graves of some of those who made the ultimate sacrifice for their countries a century ago."

Commemorative events marking the Jutland centenary have previously been held at Rosyth and South Queensferry on the Firth of Forth, from where the Battlecruiser force set sail ahead of the battle on May 31 1916.